I know this is an old thread but I wanted to input some additional information.
My workflow is with the Leica scanners and using Register 360. When the scans are registered and you are about to export you have the option of exporting with or without "Setups". This exports the scanner setup positions separately.
In the version I use I can export directly to RCP or just about any other format but I still have the option of a single export or "Setup" export.
What I have found is that if you do NOT export it "With Setups" you will NOT be able to get the point cloud Centerline or Edges to work.
The point cloud needs to be exported as separate locations.
If you click on the point cloud and get the Point Cloud panel select the Point Cloud Manager, Under SCANS in the tree if there is only one scan then the data was not exported as separate setups.
When you export a multi scan project without selecting the "setups" option you lose the Structured Scan.
The Faro As Build software is not effected by this, but Autocad 2021 NEEDS the scans to be exported with Setups.
Ask whoever is doing the scan exporting to "Please export as individual setups" and cylinders and edges should work.